水下无人潜航器探测与控制单元数据交互及其实现  

Communication between Detection and Control Modules in Unmanned Underwater Vehicle

作　　者：田彪[1,2] 李宇[1] 黄海宁[1] 

机构地区：[1]中国科学院声学研究所,北京100190 [2]中国科学院研究生院,北京100190

出　　处：《计算机测量与控制》2009年第8期1576-1578,共3页Computer Measurement &Control

基　　金：中国科学院创新工程国防科研项目(A1320070051)

摘　　要：作为探测用途的水下无人潜航器,其探测与控制单元数据交互的有效实现对确保其使命的实现至关重要;考虑到控制命令和探测参数的数据量不大,二者之间的通信采用可靠性高、抗干扰强、低速率的串口通信实现;文章探讨了水下无人潜航器探测与控制单元数据交互机制及其实现,并以PowerPC平台与RS422串口通信为例,结合VxWorks下的看门狗定时器机制,给出了一种高精度循环定时的串口通信的实现方法;系统实际长时间的运行和测试表明,该方法运行稳定可靠。Implementation of communication between detection and control modules in Unmanned Underwater Vehicle is very important for its mission achievement. A method of serial communication between PowerPC and RS422 serial device based on watchdog timer in embedded real--time operating system VxWorks was proposed. The driver development, key techniques and basic principle was presented, and implementation of this method was present in details. The results show that this method works well and steadily.

关 键 词：水下无人潜航器 数据交互 VXWORKS 串口通信 看门狗机制 

分 类 号：TH311.11[机械工程—机械制造及自动化]